Convex Relaxations for Pose Graph Optimization with Outliers

7 January 2018

Papers citing "Convex Relaxations for Pose Graph Optimization with Outliers"

16 / 16 papers shown

Title
Efficient Graduated Non-Convexity for Pose Graph Optimization Wonseok Kang Jaehyun Kim Jiseong Chung Seung-Kuk Choi Tae-wan Kim 34 1 0 10 Oct 2023
A Decoupled and Linear Framework for Global Outlier Rejection over Planar Pose Graph Tianyue Wu Fei Gao 35 3 0 18 Sep 2022
Robust Self-Tuning Data Association for Geo-Referencing Using Lane Markings Miguel Ángel Muñoz Bañón Jan-Hendrik Pauls Haohao Hu Christoph Stiller F. Candelas Fernando Torres 20 6 0 28 Jul 2022
Towards Understanding The Semidefinite Relaxations of Truncated Least-Squares in Robust Rotation Search Liangzu Peng Mahyar Fazlyab René Vidal 36 2 0 18 Jul 2022
An Efficient Global Optimality Certificate for Landmark-Based SLAM Connor T. Holmes T. Barfoot 9 17 0 26 Jun 2022
Optimal and Robust Category-level Perception: Object Pose and Shape Estimation from 2D and 3D Semantic Keypoints Jingang Shi Heng Yang Luca Carlone 3DPC 3DV 26 12 0 24 Jun 2022
Certifiably Optimal Outlier-Robust Geometric Perception: Semidefinite Relaxations and Scalable Global Optimization Heng Yang Luca Carlone 29 53 0 07 Sep 2021
Majorization Minimization Methods for Distributed Pose Graph Optimization Taosha Fan Todd D. Murphey 38 18 0 30 Jul 2021
Kimera-Multi: Robust, Distributed, Dense Metric-Semantic SLAM for Multi-Robot Systems Yulun Tian Yun Chang Fernando Herrera Arias Carlos Nieto-Granda Jonathan P. How Luca Carlone 34 175 0 28 Jun 2021
One Ring to Rule Them All: Certifiably Robust Geometric Perception with Outliers Heng Yang Luca Carlone 29 32 0 11 Jun 2020
DOOR-SLAM: Distributed, Online, and Outlier Resilient SLAM for Robotic Teams Pierre-Yves Lajoie Benjamin Ramtoula Yun Chang Luca Carlone Giovanni Beltrame 27 178 0 26 Sep 2019
Probabilistic Data Association via Mixture Models for Robust Semantic SLAM Kevin Doherty David Baxter Edward Schneeweiss John J. Leonard 24 70 0 24 Sep 2019
Graduated Non-Convexity for Robust Spatial Perception: From Non-Minimal Solvers to Global Outlier Rejection Heng Yang Pasquale Antonante Vasileios Tzoumas Luca Carlone 178 225 0 18 Sep 2019
Outlier-Robust Spatial Perception: Hardness, General-Purpose Algorithms, and Guarantees Vasileios Tzoumas Pasquale Antonante Luca Carlone 32 36 0 27 Mar 2019
Modeling Perceptual Aliasing in SLAM via Discrete-Continuous Graphical Models Pierre-Yves Lajoie Siyi Hu Giovanni Beltrame Luca Carlone 21 81 0 27 Oct 2018
Bayesian Pose Graph Optimization via Bingham Distributions and Tempered Geodesic MCMC Tolga Birdal Umut Simsekli M. Eken Slobodan Ilic 24 38 0 31 May 2018